GPWS.cpp

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#include "Module.h"


// MESSAGE MODE
// 1-3 “Pull Up” ...............................................................................1, 2 a&b
// 4-5 “Terrain, Terrain” ......................................................................2 a&b
// 6 “Terrain, Terrain Pull Up” a, d ...........................................................TA
// 7 “Obstacle, Obstacle Pull Up” a, e .........................................................TA
// 8 “Terrain” .................................................................................2
// 9 “Minimums, Minimums” a, f .................................................................6
// 10 “Caution Terrain, Caution Terrain” a, b ..................................................TA
// 11 “Caution Obstacle, Caution Obstacle” a, c ................................................TA
// 12-15 “Too Low Terrain” .....................................................................4 a&b&c, TCF
// 16-24 Altitude Callouts .....................................................................6
// 25 “Too Low Gear” ...........................................................................4A
// 26 “Too Low Flaps” ..........................................................................4B
// 27 “Sink rate, Sink rate” ...................................................................1
// 28 “Don’t Sink, Don’t Sink” .................................................................3
// 29 “Glideslope” .............................................................................5
// 30 “Bank Angle, Bank Angle” .................................................................6

Gpws::Gpws(Bus* prmBus, Logger* prmLogger) : Module(prmBus)
{
        logger = prmLogger;
}

void Gpws::FrameMove(float fElapsed)
{
        if (ourcockpit.gndvehicle) return;

        if (ourcockpit.power < 0.5f) return;

        if (g_bAboveClouds)
                bus->GPWS.Alert = Bus::Gpws::GpwsEnum::NoAlert;
        else
                bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Reset;

        secsincelast += fElapsed;

        // Mode 1 - Excessive barometric descent rate
        if (bus->RadioAltitudeKm >= 0.009f && bus->RadioAltitudeKm <= 0.746f) // 30' to 2450'
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode1_Pull_Up &&
                        ((-bus->VerticalSpeedKms >= 0.009f && bus->RadioAltitudeKm < 0.082f) ||
                        (bus->RadioAltitudeKm >= 0.082f && -bus->VerticalSpeedKms > ((bus->RadioAltitudeKm - 0.082f)*0.04367f + 0.009f))))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode1_Pull_Up;
                }
                else if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode1_Sink_Rate &&
                        (bus->RadioAltitudeKm >= 0.009f && -bus->VerticalSpeedKms > ((bus->RadioAltitudeKm - 0.009f)*0.02306f + 0.008f)))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode1_Sink_Rate;
                }
        }

        // Mode 2A - Excessive terrain closure rate (not landing)
        if (bus->RadioAltitudeKm <= 0.609f && !playerships[0].geardown) // 2000'
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode2a_Pull_Up &&
                        (-groundclose > (bus->RadioAltitudeKm*0.020997f + 0.011f) ||
                        (-groundclose > 0.019f && bus->RadioAltitudeKm < 0.381f)))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode2a_Pull_Up;
                }
                else if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode2a_Terrain_Terrain &&
                        (-groundclose > (bus->RadioAltitudeKm*0.020997f + 0.010f) ||
                        (bus->RadioAltitudeKm >= 0.381f && -groundclose > ((bus->RadioAltitudeKm - 0.381f)*0.144408f + 0.018f))))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode2a_Terrain_Terrain;
                }
        }

        // Mode 2B - Excessive terrain closure rate (landing config)
        if (bus->RadioAltitudeKm >= 0.061f && bus->RadioAltitudeKm < 0.241f && playerships[0].geardown) // 200' to 790'
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode2b_Pull_Up &&
                        (-groundclose > ((bus->RadioAltitudeKm - 0.061f) / 0.12184f*0.002538f + 0.01523f) || // front side of pull up envelope
                        (-groundclose > 0.017768f && -groundclose < ((bus->RadioAltitudeKm - 0.061f) / 0.12184f*0.03046f + 0.017768f)))) // backside of pull up envelope
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode2b_Pull_Up;
                }
                else if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode2b_Terrain_Terrain &&
                        (-groundclose > ((bus->RadioAltitudeKm - 0.061f) / 0.18f*0.002538f + 0.012692f) || // front side of terrain terrain envelope
                        (-groundclose > 0.01523f && -groundclose < ((bus->RadioAltitudeKm - 0.118793f) / 0.12184f*0.035537f + 0.01523f)))) // backside of terrain terrain envelope
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode2b_Terrain_Terrain;
                }
        }

        /* Mode 3 provides alerts for significant altitude loss after takeoff or low altitude go-around (less than 245* feet AGL) with gear or flaps not in the landing configuration.
         * The amount of altitude loss that is permitted before an alert is given is a function of the height of the aircraft above the terrain as shown below.
         * This protection is available until the EGPWS determines that the aircraft has gained sufficient altitude that it is no longer in the takeoff phase of flight.
         * Significant altitude loss after takeoff or during a low altitude go-around activates the EGPWS caution lights and the aural message “DON’T SINK, DON’T SINK”.
        */
        if (oldradioaltitude < 0.04572f && bus->RadioAltitudeKm >= 0.04572f) // climbing through 150'
                mode3active = true;
        else if (bus->RadioAltitudeKm > 0.4572f || bus->RadioAltitudeKm < 0.04572f) // outside of envelope, turn off
                mode3active = false;
        if (mode3active)
        {
                if (bus->RadioAltitudeKm > oldradioaltitude) // climbing
                        mode3altitude = bus->RadioAltitudeKm; // 300'
                else if ((bus->RadioAltitudeKm - mode3altitude) < (0.003f * bus->RadioAltitudeKm - 0.008f) && // 200 - 300 equals -100!
                        bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode3_Dont_Sink)
                {
                        // say we lost 50 feet (0.015 m) from 400 feet (0.122m) after activating
                        // so we are 0.107m and last climb was 0.122m ... so left side is -0.015m ... we are allowed to lose -0.007679 at that altitude
                        // so at 0.04572 i shan't be able to descend more than 0.0051054km ... 
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode3_Dont_Sink;
                }
        }

        // Mode 4A - Unsafe terrain clearance with the gear UP
        // AND DESCENDING @ref https://jira.risetvp.com/view.php?id=457
        if (bus->RadioAltitudeKm < 0.304599f && !playerships[0].geardown && bus->VerticalSpeedKms <= 0.0f && playerships[0].reference != Reference::REF_ONGROUND)
        {
                // above 190 kts, scaled from 500' to 1000' to 250 kts, capped at 1000' above 250 kts
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Terrain && bus->IndicatedAirspeedKms > 0.0977837f && bus->RadioAltitudeKm < max(4.937376f * bus->IndicatedAirspeedKms - 0.3302008f, 0.304599f))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Terrain;
                }
                // at or below 190 kts and below 500'
                else if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Gear && bus->IndicatedAirspeedKms <= 0.0977837f && bus->RadioAltitudeKm < 0.1523f)
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Gear;
                }
        }

        // Mode 4B - Unsafe terrain clearance with the gear DOWN but the flaps are not in the landing configuration
        // AND DESCENDING @ref https://jira.risetvp.com/view.php?id=457
        if (bus->RadioAltitudeKm < 0.304599f && playerships[0].geardown && bus->VerticalSpeedKms <= 0.0f && !ourcockpit.flapSettings.empty() && bus->TrailingEdgeFlapsPosition < 20.0f && playerships[0].reference != Reference::REF_ONGROUND)
        {
                // above 159 kts, scaled from 245' to 1000' to 250 kts, capped at 1000' above 250 kts
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Terrain && bus->IndicatedAirspeedKms > 0.0817967f && bus->RadioAltitudeKm < max(4.915677f * bus->IndicatedAirspeedKms - 0.3274102f, 0.304599f))
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Terrain;
                }
                // at or below 159 kts and below 245'
                else if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Flaps && bus->IndicatedAirspeedKms <= 0.0817967f && bus->RadioAltitudeKm < 0.074676f)
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Flaps;
                }
        }

        /* Mode 4C is based on an EGPWS computed Minimum Terrain Clearance (MTC) floor that increases with Radio Altitude.
         * It is active after takeoff when the gear or flaps are not in the landing configuration.
         * It is also active during a low altitude go-around if the aircraft has descended below 245 feet AGL (or 150 feet depending on aircraft type).
         * At takeoff the Minimum Terrain Clearance (MTC) is zero feet. As the aircraft ascends the MTC is increased to 75% of the aircraft’s Radio Altitude (averaged over the previous 15 seconds).
         * This value is not allowed to decrease and is limited to 500 feet AGL for airspeed less than 190 knots.
         * Beginning at 190 knots, the MTC increases linearly to the limit of 1000 feet at 250 knots.
         * If the aircraft’s Radio Altitude decreases to the value of the MTC, the EGPWS caution illuminates and the aural message “TOO LOW TERRAIN” is enunciated.
         * EGPWS caution lights extinguish and aural messages cease when the Mode 4C alert envelope is exited.
         * If the Aural Declutter feature is disabled, mode 4C alert messages are repeated continuously until the Mode 4C envelope is exited.
        */


        // Mode 5a soft single glideslope below 1000' RA and 1.3 dots or more BELOW the beam... each additional 20% causes a new aural warning
        if (bus->RadioAltitudeKm < 0.3048f && bus->GlideslopeDeviationRadians <= D3DXToRadian(-1.3f * 0.35f)) // 1.3 dots , 1 dot I think is .35 degrees which is half-scale
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode5a_Glideslope)
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode5a_Glideslope;
                }
        }
        // Mode 5b hard repeat glideslope below 300' RA and 2 dots or greater deviation until less than 1.3 dots
        if (bus->RadioAltitudeKm < 0.09144f && fabsf(bus->GlideslopeDeviationRadians) >= D3DXToRadian(2.0f * 0.35f))
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode5b_Glideslope)
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode5b_Glideslope;
                }
        }


        // Mode 6 - Bank Angle
        if (bus->RadioAltitudeKm > 0.00913798f && bus->RadioAltitudeKm < 0.761499f) // 30' to 2500'
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Bank_Angle && // alt-30' divided by 120' times 30° plus 10°
                        (bus->RadioAltitudeKm<0.0456899f && fabsf(bus->RollAttitudeRadians)>((bus->RadioAltitudeKm - 0.00913798f) / 0.0365519f*0.523599f + 0.174532925f) ||
                                bus->RadioAltitudeKm > 0.0456899f && fabsf(bus->RollAttitudeRadians) > ((bus->RadioAltitudeKm - 0.0456899f) / 0.715809f*0.261799f + 0.6981317f) ||
                                fabsf(bus->PitchAttitudeRadians) > D3DX_HALFPI)) // 90° is upside-down
                {
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Bank_Angle;
                }
        }

        // Mode 6 - Altitudes
        if (bus->RadioAltitudeKm < oldradioaltitude) // descending only
        {
                if (oldradioaltitude >= 0.003048f && bus->RadioAltitudeKm < 0.003048f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Ten)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Ten;
                else if (oldradioaltitude >= 0.006096f && bus->RadioAltitudeKm < 0.006096f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Twenty)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Twenty;
                else if (oldradioaltitude >= 0.009144f && bus->RadioAltitudeKm < 0.009144f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Thirty)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Thirty;
                else if (oldradioaltitude >= 0.012192f && bus->RadioAltitudeKm < 0.012192f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Forty)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Forty;
                else if (oldradioaltitude >= 0.01524f && bus->RadioAltitudeKm < 0.01524f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Fifty)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Fifty;
                else if (oldradioaltitude >= 0.03048f && bus->RadioAltitudeKm < 0.03048f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_One_Hundred)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_One_Hundred;
                else if (oldradioaltitude >= 0.06096f && bus->RadioAltitudeKm < 0.06096f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Two_Hundred)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Two_Hundred;
                else if (oldradioaltitude >= 0.1524f && bus->RadioAltitudeKm < 0.1524f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Five_Hundred)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Five_Hundred;
                else if (oldradioaltitude >= 0.3048f && bus->RadioAltitudeKm < 0.3048f && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_One_Thousand)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_One_Thousand;

                // Retard
                if (bus->RadioAltitudeKm < 0.01524f && bus->IndicatedAirspeedKms > ourcockpit.Vs1 && bus->VerticalSpeedKms <= 0.0f &&
                        (bus->EngineThrustLever[0] > 0.1f || bus->EngineThrustLever[1] > 0.1f || bus->EngineThrustLever[2] > 0.1f) &&
                        playerships[0].reference != REF_ONGROUND && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Retard)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Retard;

                // Minimums, minimums
                if (oldradioaltitude >= 0.06096f && bus->RadioAltitudeKm < 0.06096f && playerships[0].reference != REF_ONGROUND && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Minimums_Minimums)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Minimums_Minimums;
        }


        if (ourcockpit.wheeled && oldIndicatedAirspeedKms < ourcockpit.Vr && bus->IndicatedAirspeedKms >= ourcockpit.Vr && playerships[0].reference == Reference::REF_ONGROUND)
        {
                if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Rotate)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Rotate;
        }
        oldIndicatedAirspeedKms = bus->IndicatedAirspeedKms;

        // Mode 6 Pilot Monitoring
        if (oldReference == REF_ONGROUND && playerships[0].reference != REF_ONGROUND)
        {
                if (bus->VerticalSpeedKms >= 0.002f)
                {
                        oldReference = static_cast<Reference>(playerships[0].reference);
                        if (bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode6_Positive_Rate)
                                bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode6_Positive_Rate;
                }
        }
        else
                oldReference = static_cast<Reference>(playerships[0].reference);


        // Mode 7 Windshear
        // Detects windshear from inputs including air data, temperature, rate of climb or descent, angle of attack, radio height, vertical & longitudinal acceleration
        if (bus->RadioAltitudeKm < 0.4572f && playerships[0].reference != Reference::REF_ONGROUND) // 1500'
        {
                const float knotsPerSecond = (bus->WindSpeedMs - oldWindSpeedMs) * 1.94384f;
                const float UpdraftFpm = bus->WindUpdraftMs * 196.85f;
                if (UpdraftFpm < (-750.0f * knotsPerSecond - 1750.0f) && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode7_Windshear_Warning)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode7_Windshear_Warning;
                else if (UpdraftFpm > (-750.0f * knotsPerSecond + 1750) && bus->GPWS.Alert > Bus::Gpws::GpwsEnum::Mode7_Windshear_Caution)
                        bus->GPWS.Alert = Bus::Gpws::GpwsEnum::Mode7_Windshear_Caution;
        }
        oldWindSpeedMs = bus->WindSpeedMs;



        oldradioaltitude = bus->RadioAltitudeKm;

        Command newCommand;
        switch (bus->GPWS.Alert)
        {
        case Bus::Gpws::GpwsEnum::Mode5a_Glideslope:
        case Bus::Gpws::GpwsEnum::Mode5b_Glideslope:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSGlideslope";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode1_Pull_Up:
        case Bus::Gpws::GpwsEnum::Mode2a_Pull_Up:
        case Bus::Gpws::GpwsEnum::Mode2b_Pull_Up:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSPullUp";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode2a_Terrain_Terrain:
        case Bus::Gpws::GpwsEnum::Mode2b_Terrain_Terrain:
                if (secsincelast >= 4.0f)
                {
                        newCommand.name = "GPWSTerrainTerrain";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Terrain:
        case Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Terrain:
        case Bus::Gpws::GpwsEnum::Mode4c_Too_Low_Terrain:
                if (secsincelast >= 4.0f)
                {
                        newCommand.name = "GPWSTooLowTerrain";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode4a_Too_Low_Gear:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSTooLowGear";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode4b_Too_Low_Flaps:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSTooLowFlaps";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode1_Sink_Rate:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSSinkRate";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::Mode6_Bank_Angle:
                if (secsincelast >= 2.0f)
                {
                        newCommand.name = "GPWSBankAngle";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Retard:
                if (secsincelast >= 1.0f)
                {
                        newCommand.name = "GPWSMode6Retard";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Ten:
                if (secsincelast >= 0.431f)
                {
                        newCommand.name = "GPWSMode6Ten";
                        newCommand.ttl = 0.339f;
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Twenty:
                if (secsincelast >= 0.449f)
                {
                        newCommand.name = "GPWSMode6Twenty";
                        newCommand.ttl = 0.431f;
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Thirty:
                if (secsincelast >= 0.473f)
                {
                        newCommand.name = "GPWSMode6Thirty";
                        newCommand.ttl = 0.449f;
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Forty:
                if (secsincelast >= 0.443f)
                {
                        newCommand.name = "GPWSMode6Forty";
                        newCommand.ttl = 0.473f;
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Fifty:
                newCommand.name = "GPWSMode6Fifty";
                newCommand.ttl = 0.443f;
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_One_Hundred:
                newCommand.name = "GPWSMode6OneHundred";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Two_Hundred:
                newCommand.name = "GPWSMode6TwoHundred";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Minimums_Minimums:
                newCommand.name = "GPWSMode6Minimums";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Positive_Rate:
                newCommand.name = "GPWSMode6PositiveRate";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Five_Hundred:
                newCommand.name = "GPWSMode6FiveHundred";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_One_Thousand:
                newCommand.name = "GPWSMode6OneThousand";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode6_Rotate:
                newCommand.name = "GPWSMode6Rotate";
                bus->commandStream.emplace_back(newCommand);
                secsincelast = 0.0f;
                break;
        case Bus::Gpws::GpwsEnum::Mode3_Dont_Sink:
                if (secsincelast >= 4.0f)
                {
                        newCommand.name = "GPWSMode3DontSink";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode7_Windshear_Warning:
                if (secsincelast >= 4.0f)
                {
                        newCommand.name = "GPWSMode7WindshearWarning";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        case Bus::Gpws::GpwsEnum::Mode7_Windshear_Caution:
                if (secsincelast >= 4.0f)
                {
                        newCommand.name = "GPWSMode7WindshearCaution";
                        bus->commandStream.emplace_back(newCommand);
                        secsincelast = 0.0f;
                }
                break;
        }
}